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Low-cost but high-performance robot arms are required for robot arms to come into widespread use. To provide sufficient torques to support the robot mass and payload, most arms use expensive motors and speed reducers, which are the main reasons for their high price. As a solution to these problems, a multiple-degree-of-freedom (DOF) counterbalance mechanism and robot arm were developed in our previous...
Recently, various types of robot arms have been developed due to the increasing needs of the robot in various fields. However, these robot arms are still too much expensive and dangerous since high capacity motors and gear reducers are used to provide sufficient torques to support the robot arm mass. This makes robot market still limited to industrial fields. To this end, we propose a novel counterbalance...
A force/torque sensor, which is usually mounted at the wrist of a robot arm, is often used to implement force control. However, this sensor is very expensive and can only measure the forces and moments acting at the end-effector, so it cannot detect collisions occurring at parts other than the end-effector. To deal with these problems, we developed a robot arm in which joint torque sensors are installed...
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